Mathematical modeling of Control System
Introduction
A physical system is a system in which physical objects are connected
to perform an objective. We cannot represent any physical system in its
real form. Therefore, we have to make assumptions for analysis and
synthesis of systems. An idealized physical system is called a physical
model. A physical system can be modeled in different ways depending
upon the problem and required accuracy with which we have to deal.
For example
We can model an electronic amplifier as an interconnection of linear
lumped elements, and in case the stress is on distortion analysis then
same can be pictured as nonlinear elements.
When we have obtained the physical model of a physical system the
next step is to obtain the mathematical model which is called the
mathematical representation of the physical model.
Before proceeding let us know, what is the meaning of modeling of the
system?
The process of drawing the block diagram for mechanical and electrical
systems to find the performance and the transfer functions is called the
mathematical modeling of the control system.
There are two types of physical system:
1. Mechanical system.
2. Electrical system.
Mathematical modeling of the Mechanical system
There are two types of mechanical systems which we have to study.
1. Translational or Linear system.
2. Rotational system.
Translational or Linear system: The motion that takes place along a
straight line is called a translational motion. There are three different
types of forces that we have to study.
1. Inertia Force:
Consider a body of mass 'M' and acceleration 'a' then according to
newton's second law of motion:
1. F (t) = Ma (t)
In terms of velocity
In terms of displacement the above equation can be expressed as
2. Damping Force:
For viscous friction, we assume that the damping force is proportional to
the velocity.
Where B = Damping Coefficient Unit of B = N/m/sec.
3. Spring Force:
A spring has potential energy. The restoring force of a spring is
proportional to the displacement.
FK (t)∝x(t)=Kx(t)
Fk (t)=k∫v (t)dt
Where
1. ' K '= spring constant of stiffness
2. Unit of K = N/m
Rotational component
Moment of inertia or torque
Moment of inertia.
Rotational System: When the motion of a body takes place about a
fixed axis, this type of motion is known as rotational motion. There are
three types of torques that resist the rotational motion.
1. Inertia Torque: The property of an element that stores the kinetic
energy of rotational motion is called inertia (J). The inertia Torque T1 is
the product of the moment of inertia J and angular acceleration α (t).
Where
1. ω(t) = angular velocity
2. θ(t) = angular displacement
Unit of Torque = N-m
2. Damping Torque: The product of angular velocity ω and damping
coefficient B is known as Damping Torque TD(t).
1. TD(t) = Bω(t)
2.
3. TD(t) = B d/dt θ(t)
3. Spring Torque:
Spring Torque Tθ(t) is the product of torsional stiffness and angular
displacement.
1. Tθ(t) = Kθ(t)
Unit of K = N-m/rad.
By comparing equations, we get an analogous system:
S.No. Translational Rotational
1 Force, F Torque, T
2 Acceleration, a angular acceleration, α
3 Velocity, v angular velocity, ω
4 Displacement, x angular displacement, θ
5 Mass, M Moment of inertia, J
6 Damping Coefficient, B Rotational damping Coefficient
7 Stiffness torsional stiffness
Mathematical modeling of the Electrical system
Analogous System
Consider a series RLC circuit.
Apply Kirchhoff's voltage law
In terms of charge equation becomes
Now consider a parallel RLC circuit
Now apply Kirchhoff's current law
In terms of magnetic flux linkage, the above equation becomes Since
Force Current Analogy
S.No. Mechanical Translational System Electrical System
1 Force (F) Voltage (E)
2 Mass (M) Inductance (L)
3 Stiffness(K) ( Elastance, 1/K) Reciprocal of Capacitance (1/C) C
4 Damping Coefficient (B) Resistance R
5 Displacement (x) Charge (q)
